67 lines
1.8 KiB
C
67 lines
1.8 KiB
C
/******************************************************************************
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*
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* e c _ g l o b a l s . h
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*
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* Globale Definitionen und Makros für das EtherCAT-Protokoll.
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*
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* $Id$
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*
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*****************************************************************************/
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#ifndef _EC_GLOBALS_
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#define _EC_GLOBALS_
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/**
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Maximale Größe eines EtherCAT-Frames
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*/
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#define ECAT_FRAME_BUFFER_SIZE 1500
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/**
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NULL-Define, falls noch nicht definiert.
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*/
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#ifndef NULL
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#define NULL ((void *) 0)
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#endif
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/**
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EtherCAT-Kommando-Typ
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*/
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typedef enum
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{
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ECAT_CMD_NONE = 0x00, /**< Dummy */
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ECAT_CMD_APRD = 0x01, /**< Auto-increment physical read */
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ECAT_CMD_APWR = 0x02, /**< Auto-increment physical write */
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ECAT_CMD_NPRD = 0x04, /**< Node-addressed physical read */
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ECAT_CMD_NPWR = 0x05, /**< Node-addressed physical write */
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ECAT_CMD_BRD = 0x07, /**< Broadcast read */
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ECAT_CMD_BWR = 0x08, /**< Broadcast write */
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ECAT_CMD_LRW = 0x0C /**< Logical read/write */
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}
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EtherCAT_cmd_type_t;
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/**
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Zustand eines EtherCAT-Slaves
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*/
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typedef enum
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{
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ECAT_STATE_UNKNOWN = 0x00, /**< Status unbekannt */
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ECAT_STATE_INIT = 0x01, /**< Init-Zustand (Keine Mailbox-
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Kommunikation, Kein I/O) */
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ECAT_STATE_PREOP = 0x02, /**< Pre-Operational (Mailbox-
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Kommunikation, Kein I/O) */
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ECAT_STATE_SAVEOP = 0x04, /**< Save-Operational (Mailbox-
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Kommunikation und Input Update) */
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ECAT_STATE_OP = 0x08, /**< Operational, (Mailbox-
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Kommunikation und Input/Output Update) */
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ECAT_ACK_STATE = 0x10 /**< Acknoledge-Bit beim Zustandswechsel
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(dies ist kein eigener Zustand) */
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}
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EtherCAT_state_t;
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/*****************************************************************************/
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#endif
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